JPH0542063A - Apparatus held by air-suction on surface and movable on the surface - Google Patents

Abstract

PURPOSE:To achieve a smaller size of an apparatus which is held by air-suction on a surface while being movable on the surface and favorable application thereof for cleaning a wall surface made of glass or a window surface. CONSTITUTION:This apparatus includes four sets of vertically expandable means 68, four sets of width-wise expandable means 62 one of which sets is arranged each at the four sets of the vertically expandable means, air-sucking units 4 one of which units is arranged each at the width-wise expandable means and a first longitudinally expandable means 80 adapted to make the sucking units get in or out in the direction of crossing a surface. Each of the sucking units is set selectively to at least three patterns ... (1) suction movable state of being moved along or tight on the surface. (2) suction retaining state of being retained on the surface by suction and (3) non-suction movable state of being moved along and separately from the surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device capable of adsorbing to and moving along the inner and outer wall surfaces of a building, and more particularly to a device adsorbing to and adhering to a glass wall surface or window surface and cleaning while moving along the same. A device suitable for performing work.

[0002]

2. Description of the Related Art Japanese Patent Publication No. 60-26752 (U.S. Pat. No. 4,095,378 and drawings) discloses a method of moving along the inner and outer wall surfaces of a building in order to clean the surface. A device for doing so is disclosed. This device comprises a rigid or semi-rigid frame and a seal wall mounted on the frame to cooperate with the body and the surface to be adsorbed to define a decompression space. When the decompression area is decompressed, the frame is vacuum-adsorbed on the surface. The frame is further equipped with a traveling mechanism including a plurality of wheels that are brought into contact with the surface and an electric motor for rotationally driving these wheels. Further, a working device such as a polishing / cleaning material spraying means for spraying the polishing / cleaning material onto the surface is mounted.

[0003]

However, the above-mentioned conventional apparatus has the following problems to be solved. Since it is necessary to dispose a traveling mechanism including an electric motor and electric means together with a plurality of wheels, the device becomes relatively large. Further, it is difficult to apply the method for cleaning the glass wall surface or the window surface due to the necessity of the traveling mechanism and the increase in size of the device. Further, although a ridge such as a glass frame extends on the glass window surface, the conventional device cannot move across the ridge.

Therefore, the main technical problem to be solved by the present invention is that it can be miniaturized as compared with the conventional device and can be conveniently applied to cleaning a glass wall surface or a window surface. It is to provide a device that can move along this.

Another technical problem to be solved by the present invention is that, when a ridge such as a glass frame is present on the surface, the ridge can be moved across the ridge. It is to provide a movable device.

Another technical problem to be solved by the present invention is that, when a projection such as a glass frame is present on the surface, the projection has a large number of intersecting portions extending in both the horizontal direction and the vertical direction. It is an object of the present invention to provide a device capable of adsorbing on a surface and being movable along the strip, which can be moved horizontally or vertically.

[0007]

In order to achieve the above-mentioned technical solution, according to the present invention, four vertical expansion / contraction means, and one each of the four vertical expansion / contraction means are arranged. And a suction unit arranged in each of the width direction stretching means, and a first front-back direction stretching means interposed between the suction unit and the width direction stretching means. Each of the suction units includes (1) a suction movable state in which the suction unit can be moved along the surface and in close contact with the surface, and (2) a suction locked state in which the suction unit is sucked and locked in the surface. ) Adsorbable to and movable along a surface, characterized in that it is selectively set in at least the above three states: a non-adsorptive movable state that can be moved along the surface and away from the surface. A device is provided.

In order to achieve the above technical solution,
In the present invention, each of the adsorption units is (1) an adsorption movable state that can be moved in the width direction or in the vertical direction along the surface and in close contact with the surface, and (2) the adsorption member on the surface. At least the above-mentioned three states, that is, a suction-locked state in which it is stopped and (3) a non-suction-movable state in which it can be moved in the width direction or in the vertical direction along the surface and away from the surface, selectively. A device is provided that is capable of adsorbing to and moving along a surface characterized by being set.

In order to achieve the above technical solution,
Each of the suction units includes a suction unit frame, a seal wall formed of a flexible material mounted on the suction unit, a locking member mounted on the suction unit frame, and a second front-back expansion and contraction. Means, and a traveling means mounted on the suction unit frame via the second front-back direction expansion and contraction means,
Further, the surface, the suction unit frame and the seal wall cooperate to define a decompression space, and (1) the second front-back direction expansion / contraction means is extended to cause the traveling means to protrude, and the traveling means. Is brought into contact with the surface to separate the locking member from the surface, thereby setting the suction movable state,
(2) The second front-rear direction contracting means is contracted to retract the traveling means, and the locking member is locked to the surface, whereby the suction locking state is set, and (3) the second front-back direction. The unidirectional expansion / contraction means is contracted to retract the traveling means, and the decompression space is brought to a normal pressure, and then the first front / rear expansion / contraction means is contracted to separate the adsorption unit from the surface to bring the non-adsorption movable state. A device is provided that is capable of adsorbing to and moving along a surface to be set.

In order to achieve the above technical solution,
Wheel-type traveling means is attached to the second front-back direction expansion / contraction means. The wheel-type traveling means is provided with a mechanism capable of selectively setting the state of the wheels that can be sucked and moved in the width direction and the state of the wheels that can be sucked and moved in the vertical direction. A specific example of the mechanism is as follows. In addition to the following specific examples, various mechanisms that selectively set the state of the wheel that can be sucked and moved in the width direction and the state of the wheel that can be sucked and moved in the vertical direction can be considered. The second front-rear direction expansion / contraction means is a second front / rear direction expansion / contraction means equipped with a wheel-type traveling means capable of adsorbing and moving in the width direction, and a second front-rear direction expanding / contracting means having a wheel-type traveling means capable of adsorbing and moving vertically. It is possible to provide both means of the second front-back direction expansion and contraction means, and it is possible to selectively set one of the both means, and (1) extend the second front-rear direction expansion-contraction means and perform the traveling. The means is projected, and the traveling means is brought into contact with the surface so that the locking member is separated from the surface, whereby the suction movable state is set in the width direction. Is extended to cause the traveling means to project, and the traveling means is brought into contact with the surface to separate the locking member from the surface, thereby setting the suction movable state in the vertical direction, and (3) the second One front-back direction expansion and contraction means and the second two front and rear By setting both of the expansion and contraction means to retract the traveling means and locking the locking member to the surface, the suction locking state is set, and (4) the second front-back direction expansion and contraction means. Both the second two front-back direction expansion and contraction means are contracted to retract the traveling means, and the decompression space is set to a normal pressure, and then the first front-back direction expansion and contraction means is contracted to isolate the adsorption unit from the surface. A device is provided which can be attracted to and moved along the surface which is set in the non-adsorbable movable state by swaging.

[0011]

In the apparatus of the present invention, when one of the suction units is set in the locked state and the other of the suction units is set in the movable state to expand / contract the width direction expansion / contraction means, the suction unit set in the movable state. Are moved in the width direction along the surface. Also, when one of the suction units is set in the locked state and the other of the suction units is set in the movable state and the vertical expansion / contraction means is expanded / contracted, the suction unit in the movable state moves vertically along the surface. Can be moved. Thus, by appropriately repeating the movement of the suction unit in the locked state and the suction unit in the movable state, the device can be moved along the surface in the width direction (horizontal direction in the vertical glass window plane) or in the vertical direction (vertical glass direction). It can be appropriately moved in the vertical direction on the window surface).

When the suction unit is moved, when the suction unit is moved away from the surface and then the width direction expansion / contraction means is expanded / contracted, the suction unit is moved in the width direction along the surface, and the glass frame existing on the surface. It is possible to move across a ridge extending in the vertical direction such as. Also, when moving the suction unit, if the vertical expansion / contraction means is expanded / contracted after separating the suction unit from the surface, the suction unit is moved vertically along the surface, and the glass frame etc. existing on the surface. It is possible to move across the ridge extending in the horizontal direction.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of an apparatus constructed according to the present invention will be described below in more detail with reference to the accompanying drawings.

Referring to FIG. 1, FIG. 1 shows a front view of a device of the present invention which is vacuum-adsorbed on a vertical glass window surface. In FIG. 1, the vertical direction is the actual state. The vertical direction is the same as the horizontal direction in the horizontal direction. In this specification, in the direction orthogonal to the glass window surface, the direction approaching the glass window surface is referred to as the front, and the direction away from the glass window surface is referred to as the rear. The illustrated apparatus includes four vertical expansion / contraction means 68 each comprising a pneumatic cylinder and the four vertical expansion / contraction means 6 respectively.
8, a width direction expanding / contracting means 62 composed of pneumatic cylinders arranged one by one, a suction unit 4 arranged in each one of the width direction expanding / contracting means 62, the suction unit 4 and the width direction expanding / contracting The first front-rear expansion / contraction means 80, which is a pneumatic cylinder interposed between the means 62 and the means 62, is provided. Each of the suction units 4 includes a suction unit frame 16, a seal wall 26 made of a flexible material mounted on the suction unit frame 16, and a locking member mounted on the suction unit frame 16. 38, a second front-rear direction expansion / contraction unit, and a traveling unit mounted on the suction unit frame via the second front-rear direction expansion / contraction unit. The second front-rear direction expanding / contracting means is a second front-rear direction expanding / contracting means 46 including a pneumatic cylinder equipped with a traveling means 48 which is a wheel unit capable of adsorbing and moving in the width direction, and a wheel capable of adsorbing and moving in the vertical direction. The second two front-rear direction expansion / contraction means 8 including a pneumatic cylinder to which the traveling means 88 as a unit is attached.
It is composed of both means.

Referring to FIG. 2 together with FIG. 1, the four vertical expansion / contraction means 68 in the illustrated embodiment are pneumatic cylinders each having a rectangular cross section. They are fixed to each other in each cylinder case portion so that every other one is turned upside down.

At each of the tips of the piston rods of the pneumatic cylinders constituting the vertical expanding / contracting means 68, one pneumatic cylinder having a rectangular cross section constituting the widthwise expanding / contracting means 62 is fixed at its cylinder case portion. ing.

At each of the tips of the piston rods of the pneumatic cylinders constituting the width direction expanding / contracting means 62, two pneumatic cylinders each having a rectangular cross section forming the first front / rear direction expanding / contracting means 80 are provided, and their cylinder case portions are Bracket 8
It is fixed through 2.

Each two constituting the first front-back direction expansion / contraction means 80
One at the tip of the piston rod of each pneumatic cylinder
The individual suction unit frame 16 is fixed.

Each of the four suction units 4 will be described. The suction unit frame 16 which can be formed of a metal plate has a box shape extending in the vertical direction, and has a rear wall portion 18 and a double-sided wall portion 20. And 22 and a front wall 24. An opening 25 is formed in the front wall portion 24. On the front surface of the front wall portion 24, a seal wall 26 having a vertically elongated rectangular shape is sandwiched and fixed by a binder 28 made of a metal plate. A relatively large rectangular opening is formed in the center of the seal wall 26, and the inner edge of the seal wall 26 extends along the opening of the front wall portion 24.
The seal wall 26 has a horizontal wall portion 29 that projects substantially vertically from the front surface of the suction unit frame 16 in the vertical direction and the horizontal direction, and a hanging wall portion 30 that hangs forward from the horizontal wall portion 29. .. The front end portion of the hanging wall portion 30 extending in a rectangular shape is brought into contact with the surface 32 of glass or the like and moved to perform a cleaning action, as will be clear from the description below. The cross-sectional shape of the front end portion of the hanging wall portion 30 is an inverted isosceles triangle. Seal wall 26 is preferably formed from a flexible material, particularly synthetic rubber such as urethane rubber. As will be further referred to later, the sealing wall 26 has its depending wall portion 30 in contact with the surface 32, and cooperates with the surface 32 and the suction unit frame 16 to define a decompression space 34. The decompression space 34 is connected to the decompression source (not shown) on the rear wall 18 of the suction unit frame 16 via a communication pipe member 36. The vacuum source may be a vacuum pump or an ejector.

On the front surface of the binder 28 fixed to the front wall portion 24 of the suction unit frame 16, as shown in FIGS. 2 and 3, a plurality of locking members 38 are provided at appropriate intervals. It is fixed. Each of the locking members 38 has a rectangular parallelepiped shape, and is preferably made of a material having a high friction coefficient, particularly synthetic rubber such as urethane rubber.

Referring to FIG. 4 together with FIG. 1, a traveling means 48 is provided at the upper and lower ends of the rear wall portion 18 of each suction unit frame 16 via a second front-back direction expansion / contraction means 46. Is installed. More specifically, the second front-rear direction expansion / contraction means 46 is composed of a pneumatic cylinder extending in the front-rear direction, and the cylinder case 50 thereof is fixed on the rear wall 18 of the suction unit frame 16. The rod 52 of the pneumatic cylinder penetrates through the rear wall portion 18 and is projected forward. The rod 52 is prevented from rotating relative to the cylinder case 50, for example, by making the cross-sectional shape of the rod 52 polygonal. A support block 54 is fixed to the front end of the rod 52, and a short shaft 56 protruding in the up-down direction is attached to the support block 54, and a wheel 58 constituting the traveling means 48 rotates on the short shaft 56. It is installed freely. When the cylinder forming the front-back direction expansion / contraction means 46 is extended, as shown by the solid line in FIG.
The wheel 58 is brought into contact with the surface 32, the above-mentioned locking member 38 is isolated slightly rearward from the surface 32, and when the inside of the decompression space 34 of the adsorption unit 4 is decompressed, a pressure difference between the inside and outside of the decompression space 34 is generated. Due to the suction unit frame 1
The pressure acting on 6 is transmitted to the surface 32 via the wheel 58 (which causes the adsorption unit 4 to be adsorbed on the surface 32). Therefore, the suction unit 4 moves the wheels 5 on the surface 32.
When 8 rolls, it is set in a movable state in which it can easily move in the width direction (horizontal direction). On the other hand, when the cylinder constituting the front-back direction expansion / contraction means 46 is contracted, the wheel 58 is retracted rearward and separated from the surface 32, and the locking member 38 is separated from the surface 32, as shown by a chain double-dashed line in FIG. When the inside of the decompression space 34 of the adsorption unit 4 is decompressed, the pressure acting on the adsorption unit frame 16 due to the pressure difference between the inside and outside of the decompression space 34 is applied to the surface 32 via the locking member 38. Be transmitted to. Therefore, the suction unit 4 is set in the locked state in which it cannot move along the surface 32. Seal wall 26 of adsorption unit 4
Is made of a flexible material and is somewhat flexible, and in both the movable state in which the wheel 58 contacts the surface 32 and the locked state in which the locking member 38 contacts the surface 32, the decompression space 34 The pressure exerted on itself due to the pressure difference between the inside and the outside causes the hanging wall 30 to be in close contact with the surface 32.

This will be further described with reference to FIG. 4 together with FIG. 1. At the central portion of the rear surface wall portion 18 of each suction unit frame 16, the traveling means 8 is provided through the second two front-back direction expansion / contraction means 86.
8 is installed. More specifically, the second two front-back direction expansion / contraction means 86 is composed of a pneumatic cylinder extending in the front-back direction, and the cylinder case 90 thereof is fixed on the rear surface wall 18 of the suction unit frame 16. The rod 92 of the pneumatic cylinder penetrates the rear wall portion 18 and projects forward. The rod 92 is prevented from rotating relative to the cylinder case 90, for example, by making its cross-sectional shape polygonal. A support block 94 is fixed to the front end of the rod 92, and a short shaft 96 protruding in the left-right direction is attached to the support block 94, and the wheels 58 constituting the traveling means 88 rotate on the short shaft 96. It is installed freely. When the cylinder forming the second two front-back direction expansion / contraction means 86 is extended, the wheel 58 is brought into contact with the surface 32 as shown by the solid line in FIG. It is isolated slightly behind,
When the inside of the decompression space 34 of the adsorption unit 4 is decompressed, the pressure acting on the adsorption unit frame 16 due to the pressure difference between the inside and outside of the decompression space 34 is transmitted to the surface 32 via the wheels 58 (this causes adsorption). The unit 4 is adsorbed on the surface 32). Therefore, the adsorption unit 4 is set in a movable state in which the wheels 58 can easily move in the vertical direction (vertical direction) by rolling on the surface 32. On the other hand, when the cylinder forming the second two front-rear direction expansion / contraction means 86 is contracted, as shown by the two-dot chain line in FIG.
The wheel 58 is retracted rearward to be separated from the surface 32, the locking member 38 is brought into contact with the surface 32, and when the inside of the decompression space 34 of the adsorption unit 4 is decompressed, a pressure difference between the inside and outside of the decompression space 34 is generated. The pressure exerted on the suction unit frame 16 due to this is transmitted to the surface 32 via the locking member 38. Therefore, the suction unit 4 is set in the locked state in which it cannot move along the surface 32.

Next, the operation of the device as described above will be summarized and described. For example, when cleaning the surface 32 which is a glass wall surface or a window surface of a building, the decompression spaces 34 of the four adsorption units 4 are connected to a decompression source (not shown) and the adsorption units 4 are placed on the surface 32. Vacuum adsorption to.
In such a state, in the suction unit on either the left side or the right side of the suction unit, the pneumatic cylinder forming the second front-back direction expansion / contraction means 46 is contracted to isolate the wheel 58 from the surface 32. Stop member 38
Is pressed against the surface 32, thus setting the locked state. On the other side of the suction unit, the pneumatic cylinder that constitutes the second front-back direction expansion / contraction means 46 is extended to press the wheel 58 against the surface 32 and isolate the locking member 38 from the surface 32, thus Set the movable state. After that, when the pneumatic cylinder 60 constituting the width-direction expanding / contracting means 8 is appropriately expanded / contracted, the adsorption unit on one side is in a locked state with respect to the surface 32, that is, in a state in which it cannot be easily moved. Since the suction unit on the other side can easily move with respect to the surface 32, the other suction unit, that is, the suction unit set in the movable state, is moved in the width direction. Thus, when the other suction unit 4 is moved to the required position in the width direction, the suction state and the movable state of the suction unit are reversed to set the one of the suction units to the movable state and the other to the locked state. Then, after that, the pneumatic cylinder forming the width direction expansion / contraction means 8 is appropriately expanded / contracted to move one side of the adsorption unit in the width direction. As described above, the device can be moved in the width direction by appropriately changing the locked state and the movable state with respect to the surface 32 of the suction unit and appropriately expanding and contracting the width direction expansion / contraction means 8. When the suction unit is moved over the surface 32, the hanging wall portion 30 of the seal wall 26 is pressed against the surface 32, and therefore the hanging work portion 30 of the seal wall 26 allows the surface 32 to be cleaned. Is given. When the surface 32 is a glass surface, it is desirable to attach a water sprinkling means (not shown) to the adsorption unit and perform a cleaning operation by the hanging wall portion 30 of the seal wall 26 while sprinkling water by the water sprinkling means. ..

Next, another operation of the above-mentioned apparatus will be summarized and described. In a state where the four suction units 4 are vacuum-sucked on the surface 32, in the suction unit on either the upper side or the lower side of the suction unit, the air pressure that constitutes the second two front-back direction expansion / contraction means 86. The cylinder is contracted to isolate the wheel 58 from the surface 32 and force the locking member 38 against the surface 32, thus setting the locked condition. On the other side of the suction unit, the pneumatic cylinder forming the second two-back-and-forth direction expansion / contraction means 86 is extended to press the wheel 58 against the surface 32 and separate the locking member 38 from the surface 32, thus Set the movable state. Thereafter, when the pneumatic cylinder forming the vertical expansion / contraction means 68 is appropriately expanded / contracted, the adsorption unit on one side is in a locked state with respect to the surface 32, that is, in a state in which it cannot be easily moved. Since the suction unit on the other side can easily move with respect to the surface 32, the other suction unit of the suction unit, that is, the suction unit set in the movable state is moved in the vertical direction. Thus, when the other suction unit is moved vertically to the required position, the suction state and the movable state of the suction unit are reversed to set the one suction unit to the movable state and the other suction unit to the locked state. Then, after that, the pneumatic cylinder forming the vertical expansion / contraction means 68 is appropriately expanded / contracted to move the one side of the adsorption unit in the vertical direction. As described above, while appropriately changing the locked state and the movable state with respect to the surface 32 of the suction unit,
The device can be moved in the vertical direction by appropriately expanding and contracting the vertical expansion / contraction means.

In the apparatus of the present invention, when one of the suction units is set in the locked state and the other of the suction units is set in the movable state to expand and contract the width direction expansion / contraction means, the suction unit set in the movable state. Are moved in the width direction along the surface. Also, when one of the suction units is set in the locked state and the other of the suction units is set in the movable state and the vertical expansion / contraction means is expanded / contracted, the suction unit in the movable state moves vertically along the surface. Can be moved. Thus, by appropriately repeating the movement of the suction unit in the locked state and the suction unit in the movable state, the device can be moved along the surface in the width direction (horizontal direction in the vertical glass window plane) or in the vertical direction (vertical glass direction). It can be appropriately moved in the vertical direction on the window surface).

Next, still another operation of the apparatus as described above will be summarized and described. For example, in a building in which the wall surface is made of all glass and a plurality of window frames are provided in the vertical and horizontal directions of the wall surface, and thus the wall surface is composed of a plurality of rectangular glass window units, a glass window unit The operation in the case where the device of the present invention which is vacuum-adsorbed on the window surface is adsorbed to another glass window unit adjacent to the right side in the horizontal direction across the window frame will be described. First, the device of the present invention is placed on the right side of the device in a window frame (hereinafter, referred to as a boundary window frame) which is a boundary between the glass window unit currently adsorbed by the device and the glass window unit to which the device is to be moved. After the apparatus is sucked and moved to the right to the position where the right end of the suction unit 4 is closest, all the first front-back direction expansion / contraction means 80 are extended, and all the width-direction expansion / contraction means 8 and all the second ones. The movement of the apparatus is stopped with the front-back direction expansion means 46 and all the second two front-back direction expansion means 86 contracted. In this state, in the suction unit 4 on the upper right side of the suction unit 4,
First, when the suction unit 4 is changed from the depressurized state to the atmospheric pressure state to stop the suction and then the first front-back direction expansion / contraction unit 80 of the unit 4 is contracted, the suction unit 4 is isolated from the glass window surface. Thereafter, when the widthwise expansion / contraction means 8 on the upper right side is extended, the adsorption unit 4 gets over the boundary window frame and reaches the adjacent glass window surface. Then, when the first front-back direction expansion / contraction means 80 of the adsorption unit 4 is extended and the first front-back expansion / contraction means 80 of the remaining three adsorption units 4 excluding the adsorption unit 4 are contracted, the adsorption unit 4 seals. The wall 26 comes into close contact with the glass window surface.
Then, the adsorption of the adsorption unit 4 is restarted, and the first front-back direction expansion / contraction means 80 of the remaining three adsorption units 4 excluding the adsorption unit 4 are extended, and thus the adjacent glass of the adsorption unit 4 is adsorbed. The transfer to the window unit is completed. Next, in the suction unit 4 on the lower right side of the suction unit 4, first, the suction unit 4 is brought from the reduced pressure state to the atmospheric pressure state to stop the suction, and then the first front-back direction expansion / contraction means of the unit 4. When 80 is contracted,
The adsorption unit 4 is separated from the glass window surface. Then, when the widthwise expansion / contraction means 8 on the lower right side is extended, the adsorption unit 4 passes over the boundary window frame and reaches the adjacent glass window surface. Then, the first front-back direction expansion-contraction means 8 of the adsorption unit 4 is extended and the first front-back expansion-contraction means 8 of the remaining three adsorption units 4 excluding the adsorption unit 4 are extended.
When 0 is contracted, the seal wall 26 of the adsorption unit 4 comes into close contact with the glass window surface. After that, the adsorption unit 4
Adsorption is resumed, and then the remaining 3 excluding the adsorption unit 4
When the first front-back direction expansion / contraction means 80 of each suction unit 4 is extended, the movement of the suction unit 4 to the adjacent glass window unit is completed. Thus 2 on the right
The movement of the individual suction units 4 to the adjacent glass window unit is completed. Next, after the right end of the two suction units 4 on the left side of the device is suction-moved to the right direction to the position where the right ends of the two suction units 4 are closest to the boundary window frame, the left two of the four suction units 4 are moved. The width direction expansion / contraction means 8 of the adsorption unit and the first front / rear direction expansion / contraction means 80 of all the adsorption units 4 are extended, and the width direction expansion / contraction means 8 of the two adsorption units 4 on the right side of the four adsorption units 4 and all of them. Second one front-back direction expansion means 46 and all second second front-back direction expansion means 86
Stop the movement of the device while it is contracted. In such a state, in the suction unit 4 on the upper left side of the suction unit 4, first, the suction unit 4 is changed from the depressurized state to the atmospheric pressure state to stop the suction, and then the first front-back expansion / contraction of the unit 4 is performed. When the means 80 is contracted,
The adsorption unit 4 is separated from the glass window surface. After that, when the widthwise expansion / contraction means 8 on the upper left side is contracted, the adsorption unit 4 gets over the boundary window frame and reaches the adjacent glass window surface. Then, the first front-back direction expansion-contraction means 8 of the adsorption unit 4 is extended and the first front-back expansion-contraction means 8 of the remaining three adsorption units 4 excluding the adsorption unit 4 are extended.
When 0 is contracted, the seal wall 26 of the adsorption unit 4 comes into close contact with the glass window surface. After that, the adsorption unit 4
Adsorption is resumed, and then the remaining 3 excluding the adsorption unit 4
When the first front-back direction expansion / contraction means 80 of each suction unit 4 is extended, the movement of the suction unit 4 to the adjacent glass window unit is completed. Next, in the suction unit 4 on the lower left side of the suction unit 4, first, the suction unit 4 is brought from the depressurized state to the atmospheric pressure state to stop the suction, and then the first front-back direction expansion / contraction means of the unit 4. When 80 is contracted, the adsorption unit 4 is separated from the glass window surface. After that, when the widthwise expansion / contraction means 8 on the lower left side is contracted, the adsorption unit 4 gets over the boundary window frame and reaches the adjacent glass window surface. Subsequently, when the first front-back direction expansion / contraction means 80 of the adsorption unit 4 is expanded and the first front-back expansion / contraction means 80 of the remaining three adsorption units 4 excluding the adsorption unit 4 are contracted, the adsorption unit 4 seals. The wall 26 comes into close contact with the glass window surface. Then, the adsorption of the adsorption unit 4 is restarted, and the first front-back direction expansion / contraction means 80 of the remaining three adsorption units 4 excluding the adsorption unit 4 are extended, and thus the adjacent glass of the adsorption unit 4 is adsorbed. The transfer to the window unit is completed. Thus, the two suction units 4 on the left side are also completely moved to the adjacent glass window units, and all the four suction units are moved.

Next, in the description of still another operation of the apparatus as described above, for example, the wall surface is made of all glass, and the window wall is provided with a plurality of window frames in the vertical and horizontal directions,
Therefore, in a building in which the wall surface is composed of a plurality of rectangular glass window units, the device of the present invention that is vacuum-adsorbed on the window surface of a certain glass window unit is another glass that is adjacent to the left side in the horizontal direction. Regarding the description of the operation when adsorbing and moving to the window unit across the window frame, and also when the device of the present invention vacuum adsorbing on the window surface of a certain glass window unit is vertically adjacent to another glass The description of the operation in the case where the window unit is sucked and moved across the window frame is omitted because it is easily understood by the above-described explanation of the operation.

When the suction unit is moved, when the suction unit is moved away from the surface and then the width direction expansion / contraction means is expanded / contracted, the suction unit is moved in the width direction along the surface, and the glass frame existing on the surface is moved. It is possible to move across a ridge extending in the vertical direction such as. Also, when moving the suction unit, if the vertical expansion / contraction means is expanded / contracted after separating the suction unit from the surface, the suction unit is moved vertically along the surface, and the glass frame etc. existing on the surface. It is possible to move across the ridge extending in the horizontal direction.

To add further explanation, as described above, the wheel-type traveling means is attached to the second front-rear direction expanding / contracting means, and the wheel-type traveling means has a state in which the wheels can be adsorbed and moved in the width direction and a vertical direction. A mechanism that can selectively set the state of the wheels that can be sucked and moved is provided, and a specific example of the mechanism has been described above, but other than this specific example, suction and movement is possible in the width direction. Various mechanisms can be considered for selectively setting the state of the wheels and the state of the wheels that can be attracted and moved in the vertical direction. For example, a specific example of the mechanism will be described with reference to FIG. 5. The wheel 58 is a known pneumatic cylinder 15 in which the rod is extendable and retractable and the rod can be arbitrarily turned by 90 degrees.
It is possible to turn by the action of 0, and therefore, it is possible to selectively set the state of the wheel that can be sucked and moved in the width direction and the state of the wheel that can be sucked and moved in the vertical direction.

Further, a method for adjusting the cleaning action exerted on the surface by the seal wall of the adsorption unit, that is, a force for removing dirt adhering to the surface by adjusting the contact pressure between the seal wall and the surface, that is, a cleaning force is provided. A method of adjustment will be described with reference to a specific example of FIG. 6. In the suction unit 4 including at least the suction unit frame 16 and the seal wall 26 mounted on the suction unit frame 16, the seal wall 26 At least outside the seal wall 2
A second sealing wall 126 is provided which surrounds the entire outer edge of the outer peripheral end of the second sealing wall 6 and the surface 32, the outer portion of the sealing wall 26 and the inner portion of the second sealing wall 126 cooperate to form a second A decompression space 134 is defined. In such a case, the cleaning action is held by the second seal wall 126 located at the end of the adsorption unit 4, so that the second seal wall 126 is retained.
The portion of the contacting surface 32 has an inverted triangular cross section. The portion of the seal wall 26 that comes into contact with the surface 32 has a circular cross section to reduce the contact frictional resistance. Although not shown, the suction port 136 through which air is extracted from the second decompression space 134 is connected to a vacuum pump such as an air ejector, and the first decompression space 134 is adjusted by adjusting the pressure. The contact pressure between the second seal wall 126 and the surface 32 can be adjusted, and thus the force for removing dirt adhering to the surface 32, that is, the cleaning force can be adjusted. In this case, the pressure in the decompression space 34 is maintained constant, and the suction force of the suction unit 4 does not change.

Further, in the adsorption unit shown in FIG. 6, a pressure sensor (not shown) is communicated with the second decompression space 134, so that the protrusions or grooves existing on the surface 32 cause (2) Since the factor that causes the pressure in the decompression space 134 to fluctuate can be detected before the pressure in the decompression space 34 fluctuates due to the ridges or grooves, a decrease in the adsorption force of the adsorption unit 4 can be detected in advance. Therefore, it is possible to take measures to prevent the decrease of the adsorption force by detecting it.

Although the preferred embodiments of the apparatus of the present invention have been described above, various other embodiments of the apparatus of the present invention can be considered according to the scope of the claims in addition to the preferred embodiments.
For example, the first front-back direction expansion / contraction means may be any one that achieves the purpose of allowing the suction unit to move in and out in the front-rear direction by the means. It does not have to be inserted between the means. Further, each expansion / contraction means need not be a pneumatic cylinder but may be, for example, a linear motor or a link mechanism. In the above description of the preferred embodiment of the device of the present invention, the device of the present invention is described as being present on the surface in the atmosphere, but the device of the present invention is also applicable in water. You can As the vacuum pump in such a case, a water pump or a water-driven ejector can be used.

[0033]

The device of the present invention capable of adsorbing on a surface and moving along the surface thereof needs to be provided with a driving mechanism including a driving wheel, an electric motor for rotating the driving wheel, and a transmission means. In addition, when the driven wheel is provided in the device of the present invention, the driven wheel can be provided inside the adsorption unit, so that the device can be made smaller than the conventional device. Further, since the device can be moved in any of the vertical and horizontal directions without changing the posture of the device, it has excellent maneuverability. In addition, by separating the suction unit from the surface and moving it, if there is a ridge or groove such as a glass window frame on the surface, the device can be moved vertically or horizontally across the ridge or groove. Since it can be moved without changing its posture, it has the same excellent maneuverability and can realize automation of work such as glass window cleaning work on a wall surface having a ridge or groove. In addition, the device of the present invention capable of adsorbing to and moving along the surface having the second decompression space outside the decompression space can adjust the force for removing dirt adhering to the surface, and thus is excessive. Since it is possible to prevent the surface from being scratched by any force, and by detecting the pressure fluctuation in the second depressurized space, it is possible to easily detect the ridges or grooves on the surface. It is possible to take measures to prevent the decrease of the suction force by detecting the decrease of the suction force of the device in advance.

[Brief description of drawings]

FIG. 1 is a plan view showing a preferred embodiment of an apparatus constructed in accordance with the present invention.

FIG. 2 is a partial cross-sectional view showing a vertical expansion / contraction means, a width expansion / contraction means, a first front / rear expansion / contraction means, and a suction unit in the apparatus shown in FIG.

FIG. 3 is a partial cross-sectional view showing the arrangement of locking members of the suction unit in the device shown in FIG.

FIG. 4 is a partial cross-sectional view showing a traveling unit of an adsorption unit in the device shown in FIG.

5 is a partial cross-sectional view showing another embodiment of the second front-back direction expansion / contraction means in the device configured according to the present invention, which is different from FIGS. 1 to 4. FIG.

FIG. 6 is a partial cross-sectional view showing another embodiment of the adsorption unit different from those of FIGS. 1 to 4 in the apparatus configured according to the present invention.

[Explanation of symbols]

 4: Adsorption unit 16: Adsorption unit frame 26: Seal wall 28: Binder 30: Hanging wall part of the seal wall 32: Surface 34: Decompression space 36: Communication pipe member 38: Locking member 46: Second front-rear direction Expansion / contraction means 48: Traveling means 50: Cylinder case 52: Rod 54: Block 56: Minor shaft 58: Wheels 62: Width direction expansion / contraction means 68: Vertical direction expansion / contraction means 80: First front / rear direction expansion / contraction means 86: Second two front / rear directions Directional expansion / contraction means 88: Traveling means 90: Cylinder case 92: Rod 94: Block 96: Minor axis 98: Wheels 126: Second seal wall 134: Second decompression space 136: Suction port 150: Cylinder

Claims (14)

[Claims] 1. Four types of vertical expansion / contraction means, width direction expansion / contraction means provided in each of the four types of vertical expansion / contraction means, and adsorption provided in each of the width direction expansion / contraction means. And a first front-back direction expansion / contraction means for moving the adsorption unit in and out of the surface in a direction intersecting with the surface. (1) Each of the adsorption units can be moved along the surface and adsorbed on the surface. At least the above-mentioned three states: the suction movable state, (2) the suction locked state in which the surface is suction-locked, and (3) the non-suction movable state that can be moved along the surface and separately from the surface. A device that is selectively set and is capable of adsorbing to and moving along a surface. 2. Each of the adsorption units is (1) an adsorption movable state in which it is adsorbed along and on the surface and can be moved in the width direction or in the vertical direction, and (2) the adsorption member on the surface. At least the above-mentioned three states, that is, a suction-locked state in which it is stopped, and (3) a non-suction-movable state in which it can be moved in the width direction or in the vertical direction along the surface and separated from the surface, selectively. Device for adsorbing on and moving along a surface according to claim 1, characterized in that it is set. 3. Each of the suction units includes a suction unit frame, a seal wall mounted on the suction unit, a locking member mounted on the suction unit frame, and a second front-back direction expansion / contraction means. , A traveling means mounted on the suction unit frame through the second front-back direction expansion and contraction means, and the surface, the suction unit frame, and the seal wall cooperate to define a depressurized space. (1) The second front-back direction expanding / contracting means is extended to project the traveling means, and the traveling means is brought into contact with the surface to separate the locking member from the surface, whereby the suction movable state is achieved. (2) The second front-back direction expansion / contraction unit is contracted to retract the traveling unit, and the locking member is locked to the surface to be set to the suction locking state, (3) The second front-back direction expansion / contraction means is contracted to perform the running. 2. The non-adsorption movable state is set by retracting the moving means, and after making the depressurized space a normal pressure and then contracting the first front-back direction expansion / contraction means to isolate the adsorption unit from the surface. A device capable of adsorbing to and moving along a surface according to any of items 1 to 2. 4. A device for adsorbing to and moving along a surface according to claim 1, wherein the traveling means of the adsorbing unit are wheels. 5. The direction of the rotation axis of the wheel is selectively set to either one of a direction parallel to the surface and perpendicular to the width direction and a direction parallel to the surface and perpendicular to the vertical direction. 5. A device for adsorbing to and moving along a surface of claim 4, which is possible. 6. A device for adsorbing to and moving along a surface of claim 5, wherein the axis of rotation of the wheel is adapted to be arbitrarily rotated on a plane parallel to the surface. 7. The second front-rear extension / contraction means includes a second front / rear extension / contraction means having a wheel movable in a width direction and a second second extension / contraction means having a wheel movable in a vertical direction. Both of the front-back direction expansion and contraction means are provided, and one of the both means can be selectively set. (1) The second front-rear direction expansion and contraction means is extended to project the traveling means. By setting the running means in contact with the surface and separating the locking member from the surface, the movable state is set so as to be adsorbable in the width direction, and (2) the second two front-back direction expansion / contraction means are extended. The traveling means is projected so that the traveling means is brought into contact with the surface and the locking member is separated from the surface, so that the movable state is set in the up and down direction. (3) The second front and rear Both the direction expansion and contraction means and the second two front-rear direction expansion and contraction means Is contracted to retract the traveling means, and the locking member is locked to the surface, whereby the suction locking state is set, and (4) the second front-back direction expansion / contraction means and the second (2) By contracting both the front-rear direction expansion / contraction means to retract the traveling means, and after making the depressurized space a normal pressure, the first front-back direction expansion / contraction means is contracted to isolate the adsorption unit from the surface. An apparatus capable of adsorbing to and moving along a surface according to claim 5, which is set in an adsorbable state. 8. A device for adsorbing on and moving along a surface according to claim 1, wherein said vertical expansion / contraction means is a pneumatic cylinder mechanism. 9. A device for adsorbing on and moving along a surface according to claim 1, wherein said widthwise expansion / contraction means is a pneumatic cylinder mechanism. 10. The device for adsorbing on and moving along a surface according to claim 1, wherein the first front-back direction expansion / contraction means is a pneumatic cylinder mechanism. 11. The device for adsorbing on and moving along a surface according to claim 1, wherein the second front-back direction expansion / contraction means is a pneumatic cylinder mechanism. 12. A suction unit comprising at least a suction unit frame and a seal wall attached to the suction unit frame, wherein at least the entire circumference of an end portion outside the seal wall is provided outside the seal wall. An adsorbing device having a second sealing wall that surrounds the surface, the outer portion of the sealing wall, and the inner portion of the second sealing wall cooperate with each other to define a second depressurized space. A device that comprises a unit and is capable of adsorbing to and moving along a surface. 13. A mechanism for detecting a factor that causes the pressure of the second decompression space to fluctuate, such as a ridge or groove existing on the surface, by a pressure sensor communicating with the second decompression space. 13. A device capable of adsorbing to and moving along a surface according to claim 12. 14. A suction unit comprising at least a suction unit frame and a seal wall mounted on the suction unit frame, wherein at least the entire circumference of an end portion outside the seal wall is provided outside the seal wall. An adsorbing device having a second sealing wall that surrounds the surface, the outer portion of the sealing wall, and the inner portion of the second sealing wall cooperate with each other to define a second depressurized space. Device adsorbing on and movable along a surface according to any of claims 1 to 11, comprising a unit.